Safe Learning in Robotics: From Learning-Based Control to Safe Reinforcement Learning

13 August 2021

Papers citing "Safe Learning in Robotics: From Learning-Based Control to Safe Reinforcement Learning"

33 / 83 papers shown

Title
Approximate Information States for Worst-Case Control and Learning in Uncertain Systems Aditya Dave N. Venkatesh Andreas A. Malikopoulos 27 7 0 12 Jan 2023
Robust Control for Dynamical Systems With Non-Gaussian Noise via Formal Abstractions Thom S. Badings Licio Romao Alessandro Abate David Parker Hasan A. Poonawala Marielle Stoelinga N. Jansen 26 36 0 04 Jan 2023
The ReSWARM Microgravity Flight Experiments: Planning, Control, and Model Estimation for On-Orbit Close Proximity Operations Bryce Doerr K. Albee Monica Ekal R. Ventura R. Linares 13 3 0 03 Jan 2023
Safe and Efficient Reinforcement Learning Using Disturbance-Observer-Based Control Barrier Functions Yikun Cheng Pan Zhao N. Hovakimyan OffRL 14 11 0 30 Nov 2022
Improving safety in mixed traffic: A learning-based model predictive control for autonomous and human-driven vehicle platooning Jie Wang Zhihao Jiang Yash Vardhan Pant 8 14 0 09 Nov 2022
Characterising the Robustness of Reinforcement Learning for Continuous Control using Disturbance Injection Catherine R. Glossop Jacopo Panerati A. Krishnan Zhaocong Yuan Angela P. Schoellig 8 6 0 27 Oct 2022
Safe Policy Improvement in Constrained Markov Decision Processes Luigi Berducci Radu Grosu OffRL 31 2 0 20 Oct 2022
Neural ODEs as Feedback Policies for Nonlinear Optimal Control I. O. Sandoval Panagiotis Petsagkourakis Ehecatl Antonio del Rio Chanona 9 9 0 20 Oct 2022
Learning-based Motion Planning in Dynamic Environments Using GNNs and Temporal Encoding Ruipeng Zhang Chenning Yu Jingkai Chen Chuchu Fan Sicun Gao AI4CE 33 15 0 16 Oct 2022
Near-Optimal Multi-Agent Learning for Safe Coverage Control Manish Prajapat M. Turchetta M. Zeilinger Andreas Krause 23 14 0 12 Oct 2022
VIMA: General Robot Manipulation with Multimodal Prompts Yunfan Jiang Agrim Gupta Zichen Zhang Guanzhi Wang Yongqiang Dou Yanjun Chen Li Fei-Fei Anima Anandkumar Yuke Zhu Linxi Fan LM&Ro 24 334 0 06 Oct 2022
RAMP-Net: A Robust Adaptive MPC for Quadrotors via Physics-informed Neural Network Sourav Sanyal Kaushik Roy PINN 32 22 0 19 Sep 2022
Trustworthy Reinforcement Learning Against Intrinsic Vulnerabilities: Robustness, Safety, and Generalizability Mengdi Xu Zuxin Liu Peide Huang Wenhao Ding Zhepeng Cen Bo-wen Li Ding Zhao 66 45 0 16 Sep 2022
Example When Local Optimal Policies Contain Unstable Control B. Song Jean-Jacques E. Slotine Quang-Cuong Pham 36 1 0 15 Sep 2022
Safe Reinforcement Learning via Confidence-Based Filters Sebastian Curi Armin Lederer Sandra Hirche Andreas Krause OffRL 24 4 0 04 Jul 2022
The Real Deal: A Review of Challenges and Opportunities in Moving Reinforcement Learning-Based Traffic Signal Control Systems Towards Reality Rex Chen Fei Fang Norman M. Sadeh 30 8 0 23 Jun 2022
On the Robustness of Safe Reinforcement Learning under Observational Perturbations Zuxin Liu Zijian Guo Zhepeng Cen Huan Zhang Jie Tan Bo-wen Li Ding Zhao OOD OffRL 37 35 0 29 May 2022
Verifying Learning-Based Robotic Navigation Systems Guy Amir Davide Corsi Raz Yerushalmi Luca Marzari D. Harel Alessandro Farinelli Guy Katz 86 37 0 26 May 2022
Refining Control Barrier Functions through Hamilton-Jacobi Reachability S. Tonkens Sylvia L. Herbert 16 37 0 26 Apr 2022
Safe Control with Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction methods Charles Dawson Sicun Gao Chuchu Fan 31 229 0 23 Feb 2022
Reinforcement Learning in Practice: Opportunities and Challenges Yuxi Li OffRL 34 9 0 23 Feb 2022
GoSafeOpt: Scalable Safe Exploration for Global Optimization of Dynamical Systems Bhavya Sukhija M. Turchetta David Lindner Andreas Krause Sebastian Trimpe Dominik Baumann 26 17 0 24 Jan 2022
Model-Based Safe Reinforcement Learning with Time-Varying State and Control Constraints: An Application to Intelligent Vehicles Xinglong Zhang Yaoqian Peng Biao Luo Wei Pan Xin Xu Haibin Xie 19 11 0 18 Dec 2021
Distributed neural network control with dependability guarantees: a compositional port-Hamiltonian approach Luca Furieri C. Galimberti M. Zakwan Giancarlo Ferrari-Trecate 21 20 0 16 Dec 2021
Sampling-Based Robust Control of Autonomous Systems with Non-Gaussian Noise Heinke Hihn Alessandro Abate Nils Jansen David Parker Hasan A. Poonawala Marielle Stoelinga 8 27 0 25 Oct 2021
RLO-MPC: Robust Learning-Based Output Feedback MPC for Improving the Performance of Uncertain Systems in Iterative Tasks Lukas Brunke Siqi Zhou Angela P. Schoellig 8 4 0 01 Oct 2021
Risk-averse autonomous systems: A brief history and recent developments from the perspective of optimal control Yuheng Wang Margaret P. Chapman 28 32 0 18 Sep 2021
Safe Learning and Optimization Techniques: Towards a Survey of the State of the Art Youngmin Kim Richard Allmendinger Manuel López-Ibánez OffRL 156 27 0 23 Jan 2021
Towards Safe Policy Improvement for Non-Stationary MDPs Yash Chandak Scott M. Jordan Georgios Theocharous Martha White Philip S. Thomas OffRL 60 33 0 23 Oct 2020
ShieldNN: A Provably Safe NN Filter for Unsafe NN Controllers James Ferlez Mahmoud M. Elnaggar Yasser Shoukry C. Fleming AAML 49 33 0 16 Jun 2020
Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems Andrew J. Taylor Victor D. Dorobantu Hoang Minh Le Yisong Yue Aaron D. Ames 115 78 0 04 Mar 2019
CAD2RL: Real Single-Image Flight without a Single Real Image Fereshteh Sadeghi Sergey Levine SSL 218 809 0 13 Nov 2016
Safe Exploration in Markov Decision Processes T. Moldovan Pieter Abbeel 70 308 0 22 May 2012